#ifndef MAP_EDGE_INFO
#define MAP_EDGE_INFO
#include <vector>
#include <map_utils.h>
//定义拓扑地图的边 
//边属性1：1代表直行，2代表左转弯，3代表右转弯
//边属性2：直行时代表路段长度，转弯时代表路段半径，单位：mm
//边属性3：直行时取0，转弯时取转弯的角度，单位：度
//边属性4：计算最短路径时使用的代价值
//边属性5：入库时，是否属于倒车边，车库外的边默认false
//                              { id, {起点，终点}，边属性1，边属性2，边属性3，边属性4 } 
std::vector<Edge> mapEdgeInfoS {      
                                // 加密后改变的初始的边
                                { 1, {3, 2}, 2, 200, 90, 314 }
                                ,{ 2, {2, 1}, 1, 74, 0, 74 }
                                ,{ 3, {1, 2}, 1, 74, 0, 74 }
                                ,{ 4, {2, 3}, 3, 200, 90, 314 }
                                ,{ 5, {3, 42}, 1, 200, 0, 200 }
                                ,{ 6, {4, 5}, 2, 200, 90, 314 }
                                ,{ 7, {5, 6}, 3, 307, 90, 482 }
                                ,{ 8, {6, 7}, 2, 785, 90, 1178 }
                                ,{ 9, {7, 43}, 1, 200, 0, 200 }
                                ,{ 10, {8, 9}, 2, 693, 90, 1151 }
                                ,{ 11, {9, 44}, 1, 200, 0, 200 }
                                ,{ 12, {10, 47}, 1, 199, 0, 199 }
                                ,{ 13, {11, 48}, 1, 200, 0, 200 }
                                ,{ 14, {12, 50}, 1, 200, 0, 200 }
                                ,{ 15, {13, 56}, 1, 200, 0, 200 }
                                ,{ 16, {14, 15}, 2, 700, 90, 1151 }
                                ,{ 17, {15, 61}, 1, 200, 0, 200 }
                                ,{ 18, {16, 17}, 2, 733, 90, 1151 }
                                ,{ 19, {17, 71}, 1, 200, 0, 200 }
                                ,{ 20, {18, 19}, 2, 733, 90, 1151 }
                                ,{ 21, {19, 76}, 1, 200, 0, 200 }
                                ,{ 22, {20, 21}, 3, 507, 90, 796 }
                                ,{ 23, {21, 22}, 1, 143, 0, 143 }
                                ,{ 24, {22, 23}, 3, 307, 90, 482 }
                                ,{ 25, {23, 3}, 2, 200, 90, 314 }
                                ,{ 26, {24, 25}, 3, 550, 90, 796 }
                                ,{ 27, {25, 77}, 1, 200, 0, 200 }
                                ,{ 28, {26, 27}, 3, 527, 90, 796 }
                                ,{ 29, {27, 79}, 1, 199, 0, 199 }
                                ,{ 30, {28, 81}, 1, 200, 0, 200 }
                                ,{ 31, {29, 82}, 1, 200, 0, 200 }
                                ,{ 32, {30, 31}, 3, 587, 90, 796 }
                                ,{ 33, {31, 86}, 1, 200, 0, 200 }
                                ,{ 34, {32, 33}, 3, 550, 90, 796 }
                                ,{ 35, {33, 87}, 1, 200, 0, 200 }
                                ,{ 36, {34, 35}, 3, 550, 90, 796 }
                                ,{ 37, {35, 94}, 1, 200, 0, 200 }
                                ,{ 38, {36, 37}, 3, 550, 90, 796 }
                                ,{ 39, {37, 99}, 1, 200, 0, 200 }
                                ,{ 40, {38, 39}, 3, 550, 90, 796 }
                                ,{ 41, {39, 109}, 1, 200, 0, 200 }
                                ,{ 42, {40, 41}, 3, 550, 90, 796 }
                                ,{ 43, {41, 114}, 1, 200, 0, 200 }
                                ,{ 44, {12, 41}, 2, 733, 90, 1151 }
                                ,{ 45, {40, 124}, 1, 199, 0, 199 }
                                ,{ 46, {22, 130}, 1, 200, 0, 200 }
                                ,{ 47, {24, 34}, 2, 817, 90, 1283 }
                                ,{ 48, {26, 13}, 2, 733, 90, 1151 }
                                // 加密获得的edge
                                ,{ 49, {42, 4}, 1, 150, 0, 150 }
                                ,{ 50, {43, 8}, 1, 47, 0, 47 }
                                ,{ 51, {44, 45}, 1, 200, 0, 200 }
                                ,{ 52, {45, 46}, 1, 200, 0, 200 }
                                ,{ 53, {46, 10}, 1, 169, 0, 169 }
                                ,{ 54, {47, 11}, 1, 187, 0, 187 }
                                ,{ 55, {48, 49}, 1, 200, 0, 200 }
                                ,{ 56, {49, 12}, 1, 77, 0, 77 }
                                ,{ 57, {50, 51}, 1, 200, 0, 200 }
                                ,{ 58, {51, 52}, 1, 200, 0, 200 }
                                ,{ 59, {52, 53}, 1, 200, 0, 200 }
                                ,{ 60, {53, 54}, 1, 200, 0, 200 }
                                ,{ 61, {54, 55}, 1, 200, 0, 200 }
                                ,{ 62, {55, 13}, 1, 44, 0, 44 }
                                ,{ 63, {56, 57}, 1, 200, 0, 200 }
                                ,{ 64, {57, 58}, 1, 200, 0, 200 }
                                ,{ 65, {58, 59}, 1, 200, 0, 200 }
                                ,{ 66, {59, 60}, 1, 200, 0, 200 }
                                ,{ 67, {60, 14}, 1, 102, 0, 102 }
                                ,{ 68, {61, 62}, 1, 200, 0, 200 }
                                ,{ 69, {62, 63}, 1, 200, 0, 200 }
                                ,{ 70, {63, 64}, 1, 200, 0, 200 }
                                ,{ 71, {64, 65}, 1, 200, 0, 200 }
                                ,{ 72, {65, 66}, 1, 200, 0, 200 }
                                ,{ 73, {66, 67}, 1, 200, 0, 200 }
                                ,{ 74, {67, 68}, 1, 200, 0, 200 }
                                ,{ 75, {68, 69}, 1, 200, 0, 200 }
                                ,{ 76, {69, 70}, 1, 200, 0, 200 }
                                ,{ 77, {70, 16}, 1, 103, 0, 103 }
                                ,{ 78, {71, 72}, 1, 200, 0, 200 }
                                ,{ 79, {72, 73}, 1, 200, 0, 200 }
                                ,{ 80, {73, 74}, 1, 200, 0, 200 }
                                ,{ 81, {74, 75}, 1, 200, 0, 200 }
                                ,{ 82, {75, 18}, 1, 102, 0, 102 }
                                ,{ 83, {76, 20}, 1, 34, 0, 34 }
                                ,{ 84, {77, 78}, 1, 200, 0, 200 }
                                ,{ 85, {78, 26}, 1, 73, 0, 73 }
                                ,{ 86, {79, 80}, 1, 199, 0, 199 }
                                ,{ 87, {80, 28}, 1, 13, 0, 13 }
                                ,{ 88, {81, 29}, 1, 144, 0, 144 }
                                ,{ 89, {82, 83}, 1, 200, 0, 200 }
                                ,{ 90, {83, 84}, 1, 200, 0, 200 }
                                ,{ 91, {84, 85}, 1, 200, 0, 200 }
                                ,{ 92, {85, 30}, 1, 51, 0, 51 }
                                ,{ 93, {86, 32}, 1, 47, 0, 47 }
                                ,{ 94, {87, 88}, 1, 200, 0, 200 }
                                ,{ 95, {88, 89}, 1, 200, 0, 200 }
                                ,{ 96, {89, 90}, 1, 200, 0, 200 }
                                ,{ 97, {90, 91}, 1, 200, 0, 200 }
                                ,{ 98, {91, 92}, 1, 200, 0, 200 }
                                ,{ 99, {92, 93}, 1, 200, 0, 200 }
                                ,{ 100, {93, 24}, 1, 111, 0, 111 }
                                ,{ 101, {94, 95}, 1, 200, 0, 200 }
                                ,{ 102, {95, 96}, 1, 200, 0, 200 }
                                ,{ 103, {96, 97}, 1, 200, 0, 200 }
                                ,{ 104, {97, 98}, 1, 200, 0, 200 }
                                ,{ 105, {98, 36}, 1, 102, 0, 102 }
                                ,{ 106, {99, 100}, 1, 200, 0, 200 }
                                ,{ 107, {100, 101}, 1, 200, 0, 200 }
                                ,{ 108, {101, 102}, 1, 200, 0, 200 }
                                ,{ 109, {102, 103}, 1, 200, 0, 200 }
                                ,{ 110, {103, 104}, 1, 200, 0, 200 }
                                ,{ 111, {104, 105}, 1, 200, 0, 200 }
                                ,{ 112, {105, 106}, 1, 200, 0, 200 }
                                ,{ 113, {106, 107}, 1, 200, 0, 200 }
                                ,{ 114, {107, 108}, 1, 200, 0, 200 }
                                ,{ 115, {108, 38}, 1, 103, 0, 103 }
                                ,{ 116, {109, 110}, 1, 200, 0, 200 }
                                ,{ 117, {110, 111}, 1, 200, 0, 200 }
                                ,{ 118, {111, 112}, 1, 200, 0, 200 }
                                ,{ 119, {112, 113}, 1, 200, 0, 200 }
                                ,{ 120, {113, 40}, 1, 102, 0, 102 }
                                ,{ 121, {114, 115}, 1, 200, 0, 200 }
                                ,{ 122, {115, 116}, 1, 200, 0, 200 }
                                ,{ 123, {116, 117}, 1, 200, 0, 200 }
                                ,{ 124, {117, 118}, 1, 200, 0, 200 }
                                ,{ 125, {118, 119}, 1, 200, 0, 200 }
                                ,{ 126, {119, 120}, 1, 200, 0, 200 }
                                ,{ 127, {120, 121}, 1, 200, 0, 200 }
                                ,{ 128, {121, 122}, 1, 200, 0, 200 }
                                ,{ 129, {122, 123}, 1, 200, 0, 200 }
                                ,{ 130, {123, 34}, 1, 37, 0, 37 }
                                ,{ 131, {124, 125}, 1, 199, 0, 199 }
                                ,{ 132, {125, 126}, 1, 199, 0, 199 }
                                ,{ 133, {126, 127}, 1, 199, 0, 199 }
                                ,{ 134, {127, 128}, 1, 199, 0, 199 }
                                ,{ 135, {128, 129}, 1, 199, 0, 199 }
                                ,{ 136, {129, 27}, 1, 50, 0, 50 }
                                ,{ 137, {130, 131}, 1, 200, 0, 200 }
                                ,{ 138, {131, 132}, 1, 200, 0, 200 }
                                ,{ 139, {132, 133}, 1, 200, 0, 200 }
                                ,{ 140, {133, 134}, 1, 200, 0, 200 }
                                ,{ 141, {134, 135}, 1, 200, 0, 200 }
                                ,{ 142, {135, 6}, 1, 168, 0, 168 }
                                ,{ 143, {20, 25}, 1, 1330, 0, 1330 }
                                };
#endif